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/*===========================================================================*\
 *                                                                           *
 *                               OpenMesh                                    *
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 *      Copyright (C) 2001-2010 by Computer Graphics Group, RWTH Aachen      *
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 *                           www.openmesh.org                                *
 *                                                                           *
 *---------------------------------------------------------------------------* 
 *  This file is part of OpenMesh.                                           *
 *                                                                           *
 *  OpenMesh is free software: you can redistribute it and/or modify         * 
 *  it under the terms of the GNU Lesser General Public License as           *
 *  published by the Free Software Foundation, either version 3 of           *
 *  the License, or (at your option) any later version with the              *
 *  following exceptions:                                                    *
 *                                                                           *
 *  If other files instantiate templates or use macros                       *
 *  or inline functions from this file, or you compile this file and         *
 *  link it with other files to produce an executable, this file does        *
 *  not by itself cause the resulting executable to be covered by the        *
 *  GNU Lesser General Public License. This exception does not however       *
 *  invalidate any other reasons why the executable file might be            *
 *  covered by the GNU Lesser General Public License.                        *
 *                                                                           *
 *  OpenMesh is distributed in the hope that it will be useful,              *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of           *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the            *
 *  GNU Lesser General Public License for more details.                      *
 *                                                                           *
 *  You should have received a copy of the GNU LesserGeneral Public          *
 *  License along with OpenMesh.  If not,                                    *
 *  see <http://www.gnu.org/licenses/>.                                      *
 *                                                                           *
\*===========================================================================*/ 

/*===========================================================================*\
 *                                                                           *             
 *   $Revision$                                                         *
 *   $Date$                   *
 *                                                                           *
\*===========================================================================*/
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//=============================================================================
//
//  CLASS VectorT
//
//=============================================================================


#ifndef OPENMESH_VECTOR_HH
#define OPENMESH_VECTOR_HH


//== INCLUDES =================================================================


#include <OpenMesh/Core/System/config.h>
#include <iostream>
#include <assert.h>
#include <math.h>
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#include <string.h>
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#if defined(__GNUC__) && defined(__SSE__)
#include <xmmintrin.h>
#endif


//== NAMESPACES ===============================================================


namespace OpenMesh {


//== CLASS DEFINITION =========================================================



/** The N values of the template Scalar type are the only data members
    of the class VectorT<Scalar,N>. This guarantees 100% compatibility
    with arrays of type Scalar and size N, allowing us to define the
    cast operators to and from arrays and array pointers.

    In addition, this class will be specialized for Vec4f to be 16 bit
    aligned, so that aligned SSE instructions can be used on these
    vectors.
*/
template <typename Scalar,int N> struct VectorDataT
{
  Scalar values_[N];
};


#if defined(__GNUC__) && defined(__SSE__)

/// This specialization enables us to use aligned SSE instructions.
template <> struct VectorDataT<float, 4>
{
  union 
  {
    __m128  m128;
    float   values_[4];
  };
};

#endif




//== CLASS DEFINITION =========================================================


#define DIM               N
#define TEMPLATE_HEADER   template <typename Scalar, int N>
#define CLASSNAME         VectorT
#define DERIVED           VectorDataT<Scalar,N>
#define unroll(expr)      for (int i=0; i<N; ++i) expr(i)

/** \class VectorT VectorT.hh <OpenMesh/Core/Math/VectorT.hh>
    A vector is an array of \<N\> values of type \<Scalar\>.
    The actual data is stored in an VectorDataT, this class just adds
    the necessary operators.
*/
#include "VectorT_inc.hh"

#undef  DIM
#undef  TEMPLATE_HEADER
#undef  CLASSNAME
#undef  DERIVED
#undef  unroll




//== PARTIAL TEMPLATE SPECIALIZATIONS =========================================
#if OM_PARTIAL_SPECIALIZATION


#define TEMPLATE_HEADER        template <typename Scalar>
#define CLASSNAME              VectorT<Scalar,DIM> 
#define DERIVED                VectorDataT<Scalar,DIM>


#define DIM                    2
#define unroll(expr)           expr(0) expr(1)
#define unroll_comb(expr, op)  expr(0) op expr(1)
#define unroll_csv(expr)       expr(0), expr(1)
#include "VectorT_inc.hh"
#undef  DIM
#undef  unroll
#undef  unroll_comb
#undef  unroll_csv


#define DIM                    3
#define unroll(expr)           expr(0) expr(1) expr(2)
#define unroll_comb(expr, op)  expr(0) op expr(1) op expr(2)
#define unroll_csv(expr)       expr(0), expr(1), expr(2)
#include "VectorT_inc.hh"
#undef  DIM
#undef  unroll
#undef  unroll_comb
#undef  unroll_csv


#define DIM                    4
#define unroll(expr)           expr(0) expr(1) expr(2) expr(3)
#define unroll_comb(expr, op)  expr(0) op expr(1) op expr(2) op expr(3)
#define unroll_csv(expr)       expr(0), expr(1), expr(2), expr(3)
#include "VectorT_inc.hh"
#undef  DIM
#undef  unroll
#undef  unroll_comb
#undef  unroll_csv


#undef  TEMPLATE_HEADER
#undef  CLASSNAME
#undef  DERIVED




//== FULL TEMPLATE SPECIALIZATIONS ============================================
#else

#  ifndef DOXY_IGNORE_THIS

/// cross product for Vec3f
template<>
inline VectorT<float,3>
VectorT<float,3>::operator%(const VectorT<float,3>& _rhs) const 
{
   return 
     VectorT<float,3>(values_[1]*_rhs.values_[2]-values_[2]*_rhs.values_[1],
		      values_[2]*_rhs.values_[0]-values_[0]*_rhs.values_[2],
		      values_[0]*_rhs.values_[1]-values_[1]*_rhs.values_[0]);
}
  

/// cross product for Vec3d
template<>
inline VectorT<double,3>
VectorT<double,3>::operator%(const VectorT<double,3>& _rhs) const
{
 return 
   VectorT<double,3>(values_[1]*_rhs.values_[2]-values_[2]*_rhs.values_[1],
		     values_[2]*_rhs.values_[0]-values_[0]*_rhs.values_[2],
		     values_[0]*_rhs.values_[1]-values_[1]*_rhs.values_[0]);
}

#  endif // DOXY_IGNORE_THIS

#endif



//== GLOBAL FUNCTIONS =========================================================


/// \relates OpenMesh::VectorT
/// scalar * vector
template<typename Scalar,int N>
inline VectorT<Scalar,N> operator*(Scalar _s, const VectorT<Scalar,N>& _v) {
  return VectorT<Scalar,N>(_v) *= _s;
}


/// \relates OpenMesh::VectorT
/// symmetric version of the dot product
template<typename Scalar, int N>
inline Scalar 
dot(const VectorT<Scalar,N>& _v1, const VectorT<Scalar,N>& _v2) {
  return (_v1 | _v2); 
}


/// \relates OpenMesh::VectorT
/// symmetric version of the cross product
template<typename Scalar, int N>
inline VectorT<Scalar,N> 
cross(const VectorT<Scalar,N>& _v1, const VectorT<Scalar,N>& _v2) {
  return (_v1 % _v2);
}




//== TYPEDEFS =================================================================

/** 1-byte signed vector */
typedef VectorT<signed char,1> Vec1c;
/** 1-byte unsigned vector */
typedef VectorT<unsigned char,1> Vec1uc;
/** 1-short signed vector */
typedef VectorT<signed short int,1> Vec1s;
/** 1-short unsigned vector */
typedef VectorT<unsigned short int,1> Vec1us;
/** 1-int signed vector */
typedef VectorT<signed int,1> Vec1i;
/** 1-int unsigned vector */
typedef VectorT<unsigned int,1> Vec1ui;
/** 1-float vector */
typedef VectorT<float,1> Vec1f;
/** 1-double vector */
typedef VectorT<double,1> Vec1d;

/** 2-byte signed vector */
typedef VectorT<signed char,2> Vec2c;
/** 2-byte unsigned vector */
typedef VectorT<unsigned char,2> Vec2uc;
/** 2-short signed vector */
typedef VectorT<signed short int,2> Vec2s;
/** 2-short unsigned vector */
typedef VectorT<unsigned short int,2> Vec2us;
/** 2-int signed vector */
typedef VectorT<signed int,2> Vec2i;
/** 2-int unsigned vector */
typedef VectorT<unsigned int,2> Vec2ui;
/** 2-float vector */
typedef VectorT<float,2> Vec2f;
/** 2-double vector */
typedef VectorT<double,2> Vec2d;

/** 3-byte signed vector */
typedef VectorT<signed char,3> Vec3c;
/** 3-byte unsigned vector */
typedef VectorT<unsigned char,3> Vec3uc;
/** 3-short signed vector */
typedef VectorT<signed short int,3> Vec3s;
/** 3-short unsigned vector */
typedef VectorT<unsigned short int,3> Vec3us;
/** 3-int signed vector */
typedef VectorT<signed int,3> Vec3i;
/** 3-int unsigned vector */
typedef VectorT<unsigned int,3> Vec3ui;
/** 3-float vector */
typedef VectorT<float,3> Vec3f;
/** 3-double vector */
typedef VectorT<double,3> Vec3d;

/** 4-byte signed vector */
typedef VectorT<signed char,4> Vec4c;
/** 4-byte unsigned vector */
typedef VectorT<unsigned char,4> Vec4uc;
/** 4-short signed vector */
typedef VectorT<signed short int,4> Vec4s;
/** 4-short unsigned vector */
typedef VectorT<unsigned short int,4> Vec4us;
/** 4-int signed vector */
typedef VectorT<signed int,4> Vec4i;
/** 4-int unsigned vector */
typedef VectorT<unsigned int,4> Vec4ui;
/** 4-float vector */
typedef VectorT<float,4> Vec4f;
/** 4-double vector */
typedef VectorT<double,4> Vec4d;

/** 6-byte signed vector */
typedef VectorT<signed char,6> Vec6c;
/** 6-byte unsigned vector */
typedef VectorT<unsigned char,6> Vec6uc;
/** 6-short signed vector */
typedef VectorT<signed short int,6> Vec6s;
/** 6-short unsigned vector */
typedef VectorT<unsigned short int,6> Vec6us;
/** 6-int signed vector */
typedef VectorT<signed int,6> Vec6i;
/** 6-int unsigned vector */
typedef VectorT<unsigned int,6> Vec6ui;
/** 6-float vector */
typedef VectorT<float,6> Vec6f;
/** 6-double vector */
typedef VectorT<double,6> Vec6d;


//=============================================================================
} // namespace OpenMesh
//=============================================================================
#endif // OPENMESH_VECTOR_HH defined
//=============================================================================